version: 66.10
glider: 169
mission: 6
dive: 247
start: 6 11 112 14 45 25
data:
$ID,169
$MISSION,6
$DIVE,247
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15773.044
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2545
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,110612,143337,2239.982,12214.765,67,1.2,67,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-61.3
$GPS2,110612,144502,2239.909,12215.039,16,1.4,16,-3.0
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,276.7,94624,-13.8,-8.684
$D_GRID,4894
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.58,-194.6,0.0,0.0,0,104,0.00,0.00,-82.18,0.000,2,0.000,0.000,116,2489,2873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.58,-194.6,3.0,-6.4,14,138,7.93,0.00,-16.83,0.000,6,0.223,0.000,2078,2490,3775,0,0,0,0,0,0,25.13,28.83,26.50
$GC,324,-0.49,-194.6,90.7,-32.8,55,331,0.12,2.00,0.00,0.000,4,0.190,0.037,2103,3829,3774,0,0,0,0,0,0,25.96,26.15,28.83
$GC,340,-0.39,-194.6,96.3,-32.8,57,348,0.12,2.08,0.00,0.000,6,0.171,0.018,2144,2390,3774,0,0,0,0,0,0,25.91,26.32,28.83
$GC,533,-0.36,-194.6,129.4,-14.5,94,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2389,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,722,-0.35,-194.6,152.1,-10.6,131,729,0.00,2.25,0.00,0.000,4,0.000,0.023,2147,985,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,747,-0.35,-194.6,154.6,-10.0,135,753,0.00,2.47,0.00,0.000,6,0.000,0.028,2137,2466,3775,0,0,0,0,0,0,28.83,26.31,28.83
$GC,939,-0.34,-194.6,177.0,-13.2,172,946,0.00,2.42,0.00,0.000,4,0.000,0.023,2137,981,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,975,-0.36,-194.6,181.3,-12.3,178,982,0.00,2.40,0.00,0.000,6,0.000,0.030,2137,2426,3775,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1166,-0.36,-194.6,202.6,-11.5,213,1176,0.00,2.15,0.00,0.000,4,0.000,0.038,2126,3842,3774,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1199,-0.37,-194.6,206.3,-11.7,216,1208,0.00,2.15,0.00,0.000,6,0.000,0.018,2126,2364,3774,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1509,-0.37,-194.6,239.7,-11.0,247,1518,0.00,2.17,0.00,0.000,4,0.000,0.023,2126,972,3774,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1542,-0.38,-194.6,242.8,-10.2,250,1550,0.00,2.40,0.00,0.000,6,0.000,0.029,2125,2432,3774,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1851,-0.39,-194.6,269.4,-8.0,281,1855,0.00,2.12,0.00,0.000,4,0.000,0.041,2114,3835,3773,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1894,-0.41,-194.6,272.9,-8.1,285,1903,0.00,2.10,0.00,0.000,6,0.000,0.018,2114,2357,3773,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2204,-0.43,-194.6,297.6,-8.2,316,2213,0.00,2.33,0.00,0.000,4,0.000,0.038,2107,3844,3771,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2276,-0.45,-194.6,304.3,-9.3,323,2285,0.00,1.85,0.00,0.000,6,0.000,0.019,2107,2487,3770,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2587,-0.44,-194.6,337.1,-10.8,354,2596,0.00,2.42,0.00,0.000,4,0.000,0.024,2107,990,3768,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2671,-0.46,-194.6,344.4,-7.8,362,2679,0.00,2.62,0.00,0.000,6,0.000,0.030,2099,2539,3767,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2980,-0.45,-194.6,377.5,-12.7,393,2990,0.10,2.58,0.00,0.000,4,0.154,0.022,2131,980,3766,0,0,0,0,0,0,26.45,26.40,28.83
$GC,3024,-0.46,-194.6,381.8,-9.7,397,3034,0.00,2.60,0.00,0.000,6,0.000,0.031,2125,2526,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3336,-0.53,-194.6,404.8,-7.8,428,3346,0.00,1.95,-0.10,0.000,4,0.000,0.054,2125,3827,3783,0,0,0,0,0,0,28.83,26.29,26.03
$GC,3572,-0.60,-194.6,427.0,-9.5,451,3582,0.12,2.03,0.00,0.000,6,0.081,0.019,2082,2405,3782,0,0,0,0,0,0,26.25,26.53,28.83
$GC,3881,-0.61,-194.6,445.9,-5.9,482,3885,0.00,2.22,0.00,0.000,4,0.000,0.040,2073,3836,3781,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3927,-0.62,-194.6,448.7,-6.7,486,3934,0.00,1.75,0.00,0.000,6,0.000,0.018,2073,2524,3780,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4233,-0.60,-194.6,479.7,-10.4,517,4242,0.00,2.50,0.00,0.000,4,0.000,0.024,2073,988,3779,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4327,-0.62,-194.6,488.3,-8.8,526,4336,0.00,2.70,0.00,0.000,6,0.000,0.031,2061,2563,3777,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4636,-0.59,-194.6,524.9,-12.2,557,4645,0.00,2.65,0.00,0.000,4,0.000,0.025,2061,995,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4691,-0.59,-194.6,530.7,-10.9,562,4698,0.12,2.67,0.00,0.000,6,0.122,0.031,2094,2552,3775,0,0,0,0,0,0,26.17,26.32,28.83
$GC,4998,-0.59,-194.6,556.4,-8.3,593,5007,0.00,2.62,0.00,0.000,4,0.000,0.024,2094,990,3772,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5041,-0.61,-194.6,559.8,-8.3,597,5050,0.00,2.62,0.00,0.000,6,0.000,0.031,2086,2534,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5350,-0.61,-194.6,588.1,-9.5,628,5359,0.00,2.55,0.00,0.000,4,0.000,0.024,2086,992,3771,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5404,-0.63,-194.6,592.7,-8.5,633,5412,0.00,2.55,0.00,0.000,6,0.000,0.032,2085,2505,3770,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5713,-0.63,-194.6,619.6,-8.3,653,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2504,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,-0.63,-194.6,645.9,-9.4,668,6018,0.00,2.00,0.00,0.000,4,0.000,0.043,2076,3826,3765,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6046,-0.63,-194.6,647.7,-9.3,669,6053,0.00,1.98,0.00,0.000,6,0.000,0.019,2077,2431,3765,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6352,-0.63,-194.6,677.9,-9.0,685,6358,0.00,2.35,0.00,0.000,4,0.000,0.026,2077,976,3763,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6385,-0.63,-194.6,679.6,-8.9,686,6392,0.00,2.60,0.00,0.000,6,0.000,0.032,2066,2508,3763,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6694,-0.61,-194.6,709.6,-8.9,702,6699,0.00,2.53,0.00,0.000,4,0.000,0.025,2066,987,3760,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6735,-0.61,-194.6,713.0,-8.7,704,6739,0.00,2.55,0.00,0.000,6,0.000,0.033,2057,2488,3760,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7049,-0.60,-194.6,742.9,-9.4,720,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2487,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7349,-0.58,-194.6,774.7,-10.8,735,7355,0.10,2.50,0.00,0.000,4,0.153,0.025,2087,983,3757,0,0,0,0,0,0,26.41,26.27,28.83
$GC,7396,-0.58,-194.6,778.3,-10.0,737,7401,0.00,2.58,0.00,0.000,6,0.000,0.036,2085,2487,3756,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7706,-0.59,-194.6,801.7,-7.8,752,7711,0.00,2.05,0.00,0.000,4,0.000,0.047,2076,3825,3754,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7747,-0.61,-194.6,804.8,-7.7,754,7751,0.00,2.05,0.00,0.000,6,0.000,0.021,2076,2418,3753,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8061,-0.61,-194.6,830.8,-8.3,770,8066,0.00,2.33,0.00,0.000,4,0.000,0.027,2077,988,3752,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8113,-0.62,-194.6,834.1,-8.3,772,8120,0.00,2.55,0.00,0.000,6,0.000,0.034,2072,2488,3752,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8420,-0.62,-194.6,859.8,-8.1,788,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2486,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8721,-0.62,-194.6,885.2,-8.5,803,8726,0.00,2.50,0.00,0.000,4,0.000,0.028,2072,985,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8748,-0.62,-194.6,887.0,-8.6,804,8752,0.00,2.55,0.00,0.000,6,0.000,0.037,2070,2475,3749,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9055,-0.62,-194.6,913.9,-8.2,819,9061,0.00,2.08,0.00,0.000,4,0.000,0.046,2060,3819,3748,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9089,-0.62,-194.6,915.5,-8.2,820,9096,0.00,2.08,0.00,0.000,6,0.000,0.022,2060,2413,3746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9395,-0.61,-194.6,942.8,-9.0,836,9401,0.00,2.30,0.00,0.000,4,0.000,0.027,2060,985,3745,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9428,-0.61,-194.6,944.8,-9.2,837,9435,0.00,2.55,0.00,0.000,6,0.000,0.034,2056,2478,3745,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9736,-0.60,-194.6,975.5,-9.8,853,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2476,3745,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9892,begin apogee
$GC,9898,-0.20,0.0,991.1,-9.7,861,10095,0.43,0.00,189.98,1.173,4,0.098,0.000,2203,2561,2975,0,0,0,0,0,0,25.85,28.83,23.61
$STATE,10095,end apogee,CONTROL_FINISHED_OK
$STATE,10096,begin climb
$GC,10098,0.58,194.6,1000.0,0.0,871,10317,0.68,2.72,209.55,1.078,4,0.043,0.027,2468,1073,2183,0,0,0,0,0,0,24.89,24.91,23.25
$GC,10397,0.54,194.6,966.4,16.1,886,10403,0.00,2.75,0.00,0.000,6,0.000,0.037,2468,2551,2152,0,0,0,0,0,0,28.83,25.26,28.83
$GC,10717,0.48,194.6,900.5,20.7,902,10723,0.12,2.55,0.00,0.000,4,0.187,0.027,2445,1095,2147,0,0,0,0,0,0,25.73,25.99,28.83
$GC,10840,0.45,194.6,881.6,14.3,908,10847,0.00,2.60,0.00,0.000,6,0.000,0.035,2445,2549,2144,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11157,0.40,194.6,825.3,18.1,924,11162,0.12,1.88,0.00,0.000,4,0.175,0.041,2408,3831,2144,0,0,0,0,0,0,25.93,26.08,28.83
$GC,11220,0.35,194.6,813.9,18.2,927,11225,0.00,1.90,0.00,0.000,6,0.000,0.021,2418,2510,2143,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11541,0.32,194.6,766.0,14.3,943,11547,0.12,2.00,0.00,0.000,4,0.177,0.041,2380,3825,2142,0,0,0,0,0,0,25.98,26.11,28.83
$GC,11563,0.29,194.6,763.2,14.0,944,11567,0.00,1.85,0.00,0.000,6,0.000,0.022,2390,2526,2142,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11876,0.27,194.6,728.2,11.2,960,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2525,2142,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18847,end climb,SURFACE_DEPTH_REACHED
$STATE,18848,begin surface coast
$FINISH,0.1,1.021060
$STATE,18864,end surface coast,CONTROL_FINISHED_OK
$STATE,18864,begin surface
$SM_CCo,18940,0.00,0.000,0,0,435,624.04
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$IRIDIUM_FIX,2232.34,12212.70,110612,141409
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.25
$INTERNAL_PRESSURE,8.31442
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.3,50.080
$10V_AH,10.1,30.638
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.500,211.025,875.900,0.000,0.000,71.253,84.476,303.952,0.000,0.000,17.122,4293.321,10158.760,989.569,3647.193,494.272,0.000,2749.177,0.000,3001.651,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,67.320,1172.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1182.637,2233.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,110245,1750
$CAP_FILE_SIZE,223450,0
$CFSIZE,260165632,195305472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059, 52.0,1
$GPS,110612,200207,2240.649,12212.852,34,2.0,34,-3.0